Classes | Public Member Functions
btDiscreteCollisionDetectorInterface Struct Reference

#include <btDiscreteCollisionDetectorInterface.h>

Inheritance diagram for btDiscreteCollisionDetectorInterface:
Inheritance graph
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List of all members.

Classes

struct  ClosestPointInput
struct  Result

Public Member Functions

virtual void getClosestPoints (const ClosestPointInput &input, Result &output, class btIDebugDraw *debugDraw, bool swapResults=false)=0
virtual ~btDiscreteCollisionDetectorInterface ()

Detailed Description

This interface is made to be used by an iterative approach to do TimeOfImpact calculations This interface allows to query for closest points and penetration depth between two (convex) objects the closest point is on the second object (B), and the normal points from the surface on B towards A. distance is between closest points on B and closest point on A. So you can calculate closest point on A by taking closestPointInA = closestPointInB + m_distance * m_normalOnSurfaceB

Definition at line 29 of file btDiscreteCollisionDetectorInterface.h.


Constructor & Destructor Documentation

Definition at line 57 of file btDiscreteCollisionDetectorInterface.h.


Member Function Documentation

virtual void btDiscreteCollisionDetectorInterface::getClosestPoints ( const ClosestPointInput input,
Result output,
class btIDebugDraw debugDraw,
bool  swapResults = false 
) [pure virtual]

The documentation for this struct was generated from the following file:
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Author(s): Erwin Coumans, ROS package maintained by Tully Foote
autogenerated on Wed Oct 31 2012 07:54:32